The document describes an autonomous surface vehicle (ASV) project that is developing an unmanned boat. The ASV uses ultrasonic sensors, LIDAR, GPS, and a camera to navigate and perform tasks without human operation. It will be tested to demonstrate navigation, obstacle avoidance, automated docking, and locating pingers. Infrastructure was developed to test the sensors and thrusters on the ASV using a grid in a pool. The project is also working on coding an autonomous underwater vehicle (AUV) to take pictures and communicate with the surface team. Algorithms are being developed to control the ASV's operations.

1. AUTONOMOUS SURFACE
VEHICLE (ASV)
By: Brian Jackson
James Martin
Eric Ortiz
Elizabeth Allen
Matt Hart

2. ASV
• Developing a Autonomous Surface
Vehicle that navigates and performs
various task
• ASV is mounted with 4 ultrasonic
sensor, LIDAR, GPS, and openCV
camera, and duel thrusters
• Ultrasonic and LIDAR sensor will
detect distance of various objects
• GPS will determine its current location
and location of next objective
• openCV camera will determine color
and shape of objective to perform
maneuver and anaylsis

3. Obstacles and Tasks
• Perform a Weight and Thrust
measurement
• Navigation Demonstration
• Obstacle Avoidance
• Automated Docking
• Ping Location
• Interoperability challenge(AUV)

4. ASV Testing Infrastructure
 Developed sensor infrastructure to determine
sensors properties
 Infrastructure is used to determine the
properties of thruster to allow proper coding of
the ASV, by plotting ASV location during pool
test
 A 5 ft by 16 ft grid is established
 Sensor used are 2 LIDAR and 5 ultrasound
sensor
 Dynamic and Static testing perform for the
sensors
 Rig assembly made out of aluminum shafts
 Sensor Placed a meter apart
 3D printer housing for the Sensor were used
 Coding used Arduino code

5. ASV and AUV
 Developing coding of AUV to maneuver
and capture a picture and send to ground
command
 Testing buoyancy and balance
 Reel system is being developed to send
and retrieve AUV unit

6. ASV coding
 Developing Hierarchy algorithm to assist with coding operation
 Navigation test
 Obstacle Avoidance
 Docking
 Ping and return
 Insure within 30 minute time frame

7. Questions?